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AP_Mission: add winch support

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This commit is contained in:
Randy Mackay 2017-10-07 09:45:35 +09:00
parent 07e2853b8e
commit 8b4345f29d
2 changed files with 25 additions and 0 deletions
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14
libraries/AP_Mission/AP_Mission.cpp
View File

@ -806,6 +806,13 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.set_yaw_speed.relative_angle = packet.param3; // 0 = absolute angle, 1 = relative angle cmd.content.set_yaw_speed.relative_angle = packet.param3; // 0 = absolute angle, 1 = relative angle
break; break;
case MAV_CMD_DO_WINCH: // MAV ID: 42600
cmd.content.winch.num = packet.param1; // winch number
cmd.content.winch.action = packet.param2; // action (0 = relax, 1 = length control, 2 = rate control). See WINCH_ACTION enum
cmd.content.winch.release_length = packet.param3; // cable distance to unwind in meters, negative numbers to wind in cable
cmd.content.winch.release_rate = packet.param4; // release rate in meters/second
break;
default: default:
// unrecognised command // unrecognised command
return MAV_MISSION_UNSUPPORTED; return MAV_MISSION_UNSUPPORTED;
@ -1255,6 +1262,13 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param3 = cmd.content.set_yaw_speed.relative_angle; // 0 = absolute angle, 1 = relative angle packet.param3 = cmd.content.set_yaw_speed.relative_angle; // 0 = absolute angle, 1 = relative angle
break; break;
case MAV_CMD_DO_WINCH:
packet.param1 = cmd.content.winch.num; // winch number
packet.param2 = cmd.content.winch.action; // action (0 = relax, 1 = length control, 2 = rate control). See WINCH_ACTION enum
packet.param3 = cmd.content.winch.release_length; // cable distance to unwind in meters, negative numbers to wind in cable
packet.param4 = cmd.content.winch.release_rate; // release rate in meters/second
break;
default: default:
// unrecognised command // unrecognised command
return false; return false;

11
libraries/AP_Mission/AP_Mission.h
View File

@ -184,6 +184,14 @@ public:
uint8_t relative_angle; // 0 = absolute angle, 1 = relative angle uint8_t relative_angle; // 0 = absolute angle, 1 = relative angle
}; };
// winch command structure
struct PACKED Winch_Command {
uint8_t num; // winch number
uint8_t action; // action (0 = relax, 1 = length control, 2 = rate control)
float release_length; // cable distance to unwind in meters, negative numbers to wind in cable
float release_rate; // release rate in meters/second
};
union PACKED Content { union PACKED Content {
// jump structure // jump structure
Jump_Command jump; Jump_Command jump;
@ -245,6 +253,9 @@ public:
// navigation delay // navigation delay
Set_Yaw_Speed set_yaw_speed; Set_Yaw_Speed set_yaw_speed;
// do-winch
Winch_Command winch;
// location // location
Location location; // Waypoint location Location location; // Waypoint location